private void writeKML(string filename)
{
Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
Document kml = new Document();
Tour tour = new Tour();
tour.Name = "First Person View";
Playlist tourplaylist = new Playlist();
AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
PolygonStyle pstyle = new PolygonStyle();
pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
style.Polygon = pstyle;
kml.AddStyle(style);
// create sub folders
Folder planes = new Folder();
planes.Name = "Planes";
kml.AddFeature(planes);
// coords for line string
CoordinateCollection coords = new CoordinateCollection();
int a = 1;
int c = -1;
DateTime lasttime = DateTime.MaxValue;
DateTime starttime = DateTime.MinValue;
Color stylecolor = Color.AliceBlue;
string mode = "";
if (flightdata.Count > 0)
{
mode = flightdata[0].mode;
}
foreach (CurrentState cs in flightdata)
{
progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
progressBar1.Refresh();
if (starttime == DateTime.MinValue)
{
starttime = cs.datetime;
lasttime = cs.datetime;
}
if (mode != cs.mode || flightdata.Count == a)
{
c++;
LineString ls = new LineString();
ls.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
ls.Extrude = true;
ls.Coordinates = coords;
Placemark pm = new Placemark();
pm.Name = c + " Flight Path " + mode;
pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
pm.Geometry = ls;
SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
ts.Begin = starttime;
ts.End = cs.datetime;
pm.Time = ts;
// setup for next line
mode = cs.mode;
starttime = cs.datetime;
stylecolor = colours[c % (colours.Length - 1)];
Style style2 = new Style();
style2.Line = new LineStyle(new Color32(stylecolor), 4);
pm.StyleSelector = style2;
kml.AddFeature(pm);
coords = new CoordinateCollection();
}
coords.Add(new Vector(cs.lat, cs.lng, cs.alt));
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = cs.datetime;
FlyTo flyto = new FlyTo();
flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;
flyto.Mode = FlyToMode.Smooth;
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
cam.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
cam.Latitude = cs.lat;
cam.Longitude = cs.lng;
cam.Altitude = cs.alt;
cam.Heading = cs.yaw;
cam.Roll = -cs.roll;
cam.Tilt = (90 - (cs.pitch * -1));
cam.GXTimePrimitive = tstamp;
flyto.View = cam;
//if (Math.Abs(flyto.Duration.Value) > 0.1)
{
tourplaylist.AddTourPrimitive(flyto);
lasttime = cs.datetime;
}
Placemark pmplane = new Placemark();
pmplane.Name = "Plane " + a;
pmplane.Time = tstamp;
pmplane.Visibility = false;
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
loc.Latitude = cs.lat;
loc.Longitude = cs.lng;
loc.Altitude = cs.alt;
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
ori.Heading = cs.yaw;
ori.Roll = -cs.roll;
ori.Tilt = -cs.pitch;
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
sca.X = 2;
sca.Y = 2;
sca.Z = 2;
Model model = new Model();
model.Location = loc;
model.Orientation = ori;
model.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
model.Scale = sca;
try
{
Description desc = new Description();
desc.Text = @"<![CDATA[
<table>
<tr><td>Roll: " + model.Orientation.Roll + @" </td></tr>
<tr><td>Pitch: " + model.Orientation.Tilt + @" </td></tr>
<tr><td>Yaw: " + model.Orientation.Heading + @" </td></tr>
</table>
]]>";
pmplane.Description = desc;
}
catch { }
Link link = new Link();
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
model.Link = link;
pmplane.Geometry = model;
planes.AddFeature(pmplane);
a++;
}
tour.Playlist = tourplaylist;
kml.AddFeature(tour);
Serializer serializer = new Serializer();
serializer.Serialize(kml);
//Console.WriteLine(serializer.Xml);
StreamWriter sw = new StreamWriter(filename);
sw.Write(serializer.Xml);
sw.Close();
// create kmz - aka zip file
FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
ZipOutputStream zipStream = new ZipOutputStream(fs);
zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
zipStream.UseZip64 = UseZip64.Off; // older zipfile
// entry 1
string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
ZipEntry newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
byte[] buffer = new byte[4096];
using (FileStream streamReader = File.Open(filename,FileMode.Open,FileAccess.Read,FileShare.ReadWrite))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";
// entry 2
entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
buffer = new byte[4096];
using (FileStream streamReader = File.OpenRead(filename))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
zipStream.Close();
File.Delete(filename);
flightdata.Clear();
}
private void CreateReportFiles(Dictionary<string, PictureInformation> listPhotosWithInfo, string dirWithImages, float offset)
{
// Write report files
Document kml = new Document();
// Clear Stations IDs
JXL_StationIDs.Clear();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
using (XmlTextWriter swloctrim = new XmlTextWriter(dirWithImages + Path.DirectorySeparatorChar + "location.jxl", Encoding.ASCII))
{
swloctrim.Formatting = Formatting.Indented;
swloctrim.WriteStartDocument(false);
swloctrim.WriteStartElement("JOBFile");
swloctrim.WriteAttributeString("jobName", "MPGeoRef");
swloctrim.WriteAttributeString("product", "Gatewing");
swloctrim.WriteAttributeString("productVersion", "1.0");
swloctrim.WriteAttributeString("version", "5.6");
// enviro
swloctrim.WriteStartElement("Environment");
swloctrim.WriteStartElement("CoordinateSystem");
swloctrim.WriteElementString("SystemName", "Default");
swloctrim.WriteElementString("ZoneName", "Default");
swloctrim.WriteElementString("DatumName", "WGS 1984");
swloctrim.WriteStartElement("Ellipsoid");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Projection");
swloctrim.WriteElementString("Type", "NoProjection");
swloctrim.WriteElementString("Scale", "1");
swloctrim.WriteElementString("GridOrientation", "IncreasingNorthEast");
swloctrim.WriteElementString("SouthAzimuth", "false");
swloctrim.WriteElementString("ApplySeaLevelCorrection", "true");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("LocalSite");
swloctrim.WriteElementString("Type", "Grid");
swloctrim.WriteElementString("ProjectLocationLatitude", "");
swloctrim.WriteElementString("ProjectLocationLongitude", "");
swloctrim.WriteElementString("ProjectLocationHeight", "");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Datum");
swloctrim.WriteElementString("Type", "ThreeParameter");
swloctrim.WriteElementString("GridName", "WGS 1984");
swloctrim.WriteElementString("Direction", "WGS84ToLocal");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteElementString("TranslationX", "0");
swloctrim.WriteElementString("TranslationY", "0");
swloctrim.WriteElementString("TranslationZ", "0");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("HorizontalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("VerticalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("CombinedScaleFactor");
swloctrim.WriteStartElement("Location");
swloctrim.WriteElementString("Latitude", "");
swloctrim.WriteElementString("Longitude", "");
swloctrim.WriteElementString("Height", "");
swloctrim.WriteEndElement();
swloctrim.WriteElementString("Scale", "");
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
// fieldbook
swloctrim.WriteStartElement("FieldBook");
swloctrim.WriteRaw(@" <CameraDesignRecord ID='00000001'>
<Type>GoPro </Type>
<HeightPixels>2400</HeightPixels>
<WidthPixels>3200</WidthPixels>
<PixelSize>0.0000022</PixelSize>
<LensModel>Rectilinear</LensModel>
<NominalFocalLength>0.002</NominalFocalLength>
</CameraDesignRecord>
<CameraRecord2 ID='00000002'>
<CameraDesignID>00000001</CameraDesignID>
<CameraPosition>01</CameraPosition>
<Optics>
<IdealAngularMagnification>1.0</IdealAngularMagnification>
<AngleSymmetricDistortion>
<Order3>-0.35</Order3>
<Order5>0.15</Order5>
<Order7>-0.033</Order7>
<Order9> 0</Order9>
</AngleSymmetricDistortion>
<AngleDecenteringDistortion>
<Column>0</Column>
<Row>0</Row>
</AngleDecenteringDistortion>
</Optics>
<Geometry>
<PerspectiveCenterPixels>
<PrincipalPointColumn>-1615.5</PrincipalPointColumn>
<PrincipalPointRow>-1187.5</PrincipalPointRow>
<PrincipalDistance>-2102</PrincipalDistance>
</PerspectiveCenterPixels>
<VectorOffset>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
</VectorOffset>
<BiVectorAngle>
<XX>0</XX>
<YY>0</YY>
<ZZ>-1.5707963268</ZZ>
</BiVectorAngle>
</Geometry>
</CameraRecord2>");
// 2mm fl
// res 2400 * 3200 = 7,680,000
// sensor size = 1/2.5" - 5.70 × 4.28 mm
// 2.2 μm
// fl in pixels = fl in mm * res / sensor size
swloctrim.WriteStartElement("PhotoInstrumentRecord");
swloctrim.WriteAttributeString("ID", "0000000E");
swloctrim.WriteElementString("Type", "Aerial");
swloctrim.WriteElementString("Model", "X100");
swloctrim.WriteElementString("Serial", "000-000");
swloctrim.WriteElementString("FirmwareVersion", "v0.0");
swloctrim.WriteElementString("UserDefinedName", "Prototype");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("AtmosphereRecord");
swloctrim.WriteAttributeString("ID", "0000000F");
swloctrim.WriteElementString("Pressure", "");
swloctrim.WriteElementString("Temperature", "");
swloctrim.WriteElementString("PPM", "");
swloctrim.WriteElementString("ApplyEarthCurvatureCorrection", "false");
swloctrim.WriteElementString("ApplyRefractionCorrection", "false");
swloctrim.WriteElementString("RefractionCoefficient", "0");
swloctrim.WriteElementString("PressureInputMethod", "ReadFromInstrument");
swloctrim.WriteEndElement();
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + offset);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
TXT_outputlog.AppendText("Start Processing\n");
// Dont know why but it was 10 in the past so let it be. Used to generate jxl file simulating x100 from trimble
int lastRecordN = JXL_ID_OFFSET;
// path
CoordinateCollection coords = new CoordinateCollection();
foreach (var item in vehicleLocations.Values)
{
coords.Add(new SharpKml.Base.Vector(item.Lat, item.Lon, item.AltAMSL));
}
var ls = new LineString() { Coordinates = coords, AltitudeMode = AltitudeMode.Absolute };
SharpKml.Dom.Placemark pm = new SharpKml.Dom.Placemark() { Geometry = ls, Name = "path" };
kml.AddFeature(pm);
foreach (PictureInformation picInfo in listPhotosWithInfo.Values)
{
string filename = Path.GetFileName(picInfo.Path);
string filenameWithoutExt = Path.GetFileNameWithoutExtension(picInfo.Path);
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = picInfo.Time;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Visibility = true,
Name = filenameWithoutExt,
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(picInfo.Lat, picInfo.Lon, picInfo.AltAMSL),
AltitudeMode = AltitudeMode.Absolute
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + filename.ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
double lat = picInfo.Lat;
double lng = picInfo.Lon;
double alpha = picInfo.Yaw + (double)num_camerarotation.Value;;
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
{
swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
swjpw.Close();
}*/
kml.AddFeature(
new GroundOverlay()
{
Name = filenameWithoutExt,
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(filename.ToLower(), UriKind.Relative),
},
}
);
swloctxt.WriteLine(filename + " " + picInfo.Lat + " " + picInfo.Lon + " " + picInfo.getAltitude(useAMSLAlt) + " " + picInfo.Yaw + " " + picInfo.Pitch + " " + picInfo.Roll);
swloctel.WriteLine(filename + "\t" + picInfo.Time.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + picInfo.Lon + "\t" + picInfo.Lat + "\t" + picInfo.getAltitude(useAMSLAlt));
swloctel.Flush();
swloctxt.Flush();
lastRecordN = GenPhotoStationRecord(swloctrim, picInfo.Path, picInfo.Lat, picInfo.Lon, picInfo.getAltitude(useAMSLAlt), 0, 0, picInfo.Yaw, picInfo.Width, picInfo.Height, lastRecordN);
log.InfoFormat(filename + " " + picInfo.Lon + " " + picInfo.Lat + " " + picInfo.getAltitude(useAMSLAlt) + " ");
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx", listPhotosWithInfo);
// flightmission
GenFlightMission(swloctrim, lastRecordN);
swloctrim.WriteEndElement(); // fieldbook
swloctrim.WriteEndElement(); // job
swloctrim.WriteEndDocument();
TXT_outputlog.AppendText("Done \n\n");
}
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List <string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
StreamWriter sw4 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv");
StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
sw.WriteLine("version=1");
sw.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
sw.WriteLine("#longitude and latitude - in degrees");
sw.WriteLine("#name utc longitude latitude height");
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (localmin > crap)
{
localmin = crap;
}
if (localmax < crap)
{
localmax = crap;
}
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
{
continue;
}
if (a % 1000 == 0)
{
Application.DoEvents();
}
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
{
return;
}
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
sw4.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle()
{
Text = "$[name]<br>$[description]"
}
}
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
sw2.WriteLine(Path.GetFileNameWithoutExtension(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
sw.WriteLine(Path.GetFileNameWithoutExtension(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
log.InfoFormat(Path.GetFileNameWithoutExtension(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
sw3.Write(serializer.Xml);
sw3.Close();
MainV2.instance.georefkml = serializer.Xml;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
sw4.Close();
sw2.Close();
sw.Close();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
private void writeKML(string filename)
{
SharpKml.Dom.AltitudeMode altmode = SharpKml.Dom.AltitudeMode.Absolute;
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
altmode = SharpKml.Dom.AltitudeMode.Absolute;
}
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
altmode = SharpKml.Dom.AltitudeMode.RelativeToGround;
}
Color[] colours = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue, Color.Indigo, Color.Violet, Color.Pink };
Document kml = new Document();
Tour tour = new Tour()
{
Name = "First Person View"
};
Playlist tourplaylist = new Playlist();
AddNamespace(kml, "gx", "http://www.google.com/kml/ext/2.2");
Style style = new Style();
style.Id = "yellowLineGreenPoly";
style.Line = new LineStyle(new Color32(HexStringToColor("7f00ffff")), 4);
PolygonStyle pstyle = new PolygonStyle();
pstyle.Color = new Color32(HexStringToColor("7f00ff00"));
style.Polygon = pstyle;
kml.AddStyle(style);
Style stylet = new Style();
stylet.Id = "track";
SharpKml.Dom.IconStyle ico = new SharpKml.Dom.IconStyle();
LabelStyle lst = new LabelStyle();
lst.Scale = 0;
stylet.Icon = ico;
ico.Icon = new IconStyle.IconLink(new Uri("http://earth.google.com/images/kml-icons/track-directional/track-none.png"));
stylet.Icon.Scale = 0.5;
stylet.Label = lst;
kml.AddStyle(stylet);
// create sub folders
Folder planes = new Folder();
planes.Name = "Planes";
kml.AddFeature(planes);
Folder points = new Folder();
points.Name = "Points";
kml.AddFeature(points);
// coords for line string
CoordinateCollection coords = new CoordinateCollection();
int a = 1;
int c = -1;
DateTime lasttime = DateTime.MaxValue;
DateTime starttime = DateTime.MinValue;
Color stylecolor = Color.AliceBlue;
string mode = "";
if (flightdata.Count > 0)
{
mode = flightdata[0].mode;
}
foreach (CurrentState cs in flightdata)
{
progressBar1.Value = 50 + (int)((float)a / (float)flightdata.Count * 100.0f / 2.0f);
progressBar1.Refresh();
if (starttime == DateTime.MinValue)
{
starttime = cs.datetime;
lasttime = cs.datetime;
}
if (mode != cs.mode || flightdata.Count == a)
{
c++;
LineString ls = new LineString();
ls.AltitudeMode = altmode;
ls.Extrude = true;
ls.Coordinates = coords;
Placemark pm = new Placemark();
pm.Name = c + " Flight Path " + mode;
pm.StyleUrl = new Uri("#yellowLineGreenPoly", UriKind.Relative);
pm.Geometry = ls;
SharpKml.Dom.TimeSpan ts = new SharpKml.Dom.TimeSpan();
ts.Begin = starttime;
ts.End = cs.datetime;
pm.Time = ts;
// setup for next line
mode = cs.mode;
starttime = cs.datetime;
stylecolor = colours[c % (colours.Length - 1)];
Style style2 = new Style();
style2.Line = new LineStyle(new Color32(stylecolor), 4);
pm.StyleSelector = style2;
kml.AddFeature(pm);
coords = new CoordinateCollection();
}
coords.Add(new Vector(cs.lat, cs.lng, cs.alt));
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = cs.datetime;
FlyTo flyto = new FlyTo();
flyto.Duration = (cs.datetime - lasttime).TotalMilliseconds / 1000.0;
flyto.Mode = FlyToMode.Smooth;
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
cam.AltitudeMode = altmode;
cam.Latitude = cs.lat;
cam.Longitude = cs.lng;
cam.Altitude = cs.alt;
cam.Heading = cs.yaw;
cam.Roll = -cs.roll;
cam.Tilt = (90 - (cs.pitch * -1));
cam.GXTimePrimitive = tstamp;
flyto.View = cam;
//if (Math.Abs(flyto.Duration.Value) > 0.1)
{
tourplaylist.AddTourPrimitive(flyto);
lasttime = cs.datetime;
}
Placemark pmplane = new Placemark();
pmplane.Name = "Point " + a;
pmplane.Time = tstamp;
pmplane.Visibility = false;
SharpKml.Dom.Location loc = new SharpKml.Dom.Location();
loc.Latitude = cs.lat;
loc.Longitude = cs.lng;
loc.Altitude = cs.alt;
if (loc.Altitude < 0)
{
loc.Altitude = 0.01;
}
SharpKml.Dom.Orientation ori = new SharpKml.Dom.Orientation();
ori.Heading = cs.yaw;
ori.Roll = -cs.roll;
ori.Tilt = -cs.pitch;
SharpKml.Dom.Scale sca = new SharpKml.Dom.Scale();
sca.X = 2;
sca.Y = 2;
sca.Z = 2;
Model model = new Model();
model.Location = loc;
model.Orientation = ori;
model.AltitudeMode = altmode;
model.Scale = sca;
try
{
Description desc = new Description();
desc.Text = @"<![CDATA[
<table>
<tr><td>Roll: " + model.Orientation.Roll.Value.ToString("0.00") + @" </td></tr>
<tr><td>Pitch: " + model.Orientation.Tilt.Value.ToString("0.00") + @" </td></tr>
<tr><td>Yaw: " + model.Orientation.Heading.Value.ToString("0.00") + @" </td></tr>
<tr><td>Time: " + cs.datetime.ToString("HH:mm:sszzzzzz") + @" </td></tr>
</table> ";
// ]]>";
pmplane.Description = desc;
}
catch { }
Link link = new Link();
link.Href = new Uri("block_plane_0.dae", UriKind.Relative);
model.Link = link;
pmplane.Geometry = model;
planes.AddFeature(pmplane);
///
Placemark pmt = new Placemark();
SharpKml.Dom.Point pnt = new SharpKml.Dom.Point();
pnt.AltitudeMode = altmode;
pnt.Coordinate = new Vector(cs.lat, cs.lng, cs.alt);
pmt.Name = "" + a;
pmt.Description = pmplane.Description;
pmt.Time = tstamp;
pmt.Geometry = pnt;
pmt.StyleUrl = new Uri("#track", UriKind.Relative);
points.AddFeature(pmt);
a++;
}
tour.Playlist = tourplaylist;
kml.AddFeature(tour);
Serializer serializer = new Serializer();
serializer.Serialize(kml);
//Console.WriteLine(serializer.Xml);
StreamWriter sw = new StreamWriter(filename);
sw.Write(serializer.Xml);
sw.Close();
// create kmz - aka zip file
FileStream fs = File.Open(filename.Replace(Path.GetExtension(filename), ".kmz"), FileMode.Create);
ZipOutputStream zipStream = new ZipOutputStream(fs);
zipStream.SetLevel(9); //0-9, 9 being the highest level of compression
zipStream.UseZip64 = UseZip64.Off; // older zipfile
// entry 1
string entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
ZipEntry newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
byte[] buffer = new byte[4096];
using (FileStream streamReader = File.Open(filename, FileMode.Open, FileAccess.Read, FileShare.ReadWrite))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
filename = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "block_plane_0.dae";
// entry 2
entryName = ZipEntry.CleanName(Path.GetFileName(filename)); // Removes drive from name and fixes slash direction
newEntry = new ZipEntry(entryName);
newEntry.DateTime = DateTime.Now;
zipStream.PutNextEntry(newEntry);
// Zip the file in buffered chunks
// the "using" will close the stream even if an exception occurs
buffer = new byte[4096];
using (FileStream streamReader = File.OpenRead(filename))
{
StreamUtils.Copy(streamReader, zipStream, buffer);
}
zipStream.CloseEntry();
zipStream.IsStreamOwner = true; // Makes the Close also Close the underlying stream
zipStream.Close();
flightdata.Clear();
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List<string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
{
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
swloctxt.WriteLine("#seconds_offset: " + TXT_offsetseconds.Text);
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
// get log min and max time
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
continue;
if (a % 1000 == 0)
Application.DoEvents();
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
{
swlockml.Close();
swloctel.Close();
swloctxt.Close();
swlogloccsv.Close();
return;
}
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
swlogloccsv.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
// int fixme;
// if (matchs > 50)
// break; ;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
double lat = double.Parse(arr[latpos]);
double lng = double.Parse(arr[lngpos]);
double alpha = 0;
if (arr.Length > yawATT)
{
alpha = ((double.Parse(arr[yawATT]) / 100.0) + 180) + (double)num_camerarotation.Value;
}
else
{
alpha = double.Parse(arr[cogpos]) + (double)num_camerarotation.Value;
}
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
{
swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
swjpw.Close();
}*/
kml.AddFeature(
new GroundOverlay()
{
Name = Path.GetFileNameWithoutExtension(filename),
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(Path.GetFileName(filename).ToLower(), UriKind.Relative),
},
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
if (arr.Length > yawATT)
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " " + ((double.Parse(arr[yawATT]) / 100.0) + 180) % 360 + " " + ((double.Parse(arr[pitchATT]) / 100.0)) + " " + (-double.Parse(arr[rollATT]) / 100.0));
}
else
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
}
swloctel.WriteLine(Path.GetFileName(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
swloctel.Flush();
swloctxt.Flush();
log.InfoFormat(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
swlockml.Close();
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
swlogloccsv.Close();
swloctxt.Close();
swloctel.Close();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
timepos = (int)NUM_time.Value;
latpos = (int)NUM_latpos.Value;
lngpos = (int)NUM_lngpos.Value;
altpos = (int)NUM_altpos.Value;
cogpos = (int)NUM_headingpos.Value;
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
recordno = 10;
photostnrecord = new List<int>();
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List<string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
using (XmlTextWriter swloctrim = new XmlTextWriter(dirWithImages + Path.DirectorySeparatorChar + "location.jxl",Encoding.ASCII))
{
swloctrim.Formatting = Formatting.Indented;
swloctrim.WriteStartDocument(false);
swloctrim.WriteStartElement("JOBFile");
swloctrim.WriteAttributeString("jobName", "MPGeoRef");
swloctrim.WriteAttributeString("product", "Gatewing");
swloctrim.WriteAttributeString("productVersion", "1.0");
swloctrim.WriteAttributeString("version", "5.6");
// enviro
swloctrim.WriteStartElement("Environment");
swloctrim.WriteStartElement("CoordinateSystem");
swloctrim.WriteElementString("SystemName", "Default");
swloctrim.WriteElementString("ZoneName", "Default");
swloctrim.WriteElementString("DatumName", "WGS 1984");
swloctrim.WriteStartElement("Ellipsoid");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Projection");
swloctrim.WriteElementString("Type", "NoProjection");
swloctrim.WriteElementString("Scale", "1");
swloctrim.WriteElementString("GridOrientation", "IncreasingNorthEast");
swloctrim.WriteElementString("SouthAzimuth", "false");
swloctrim.WriteElementString("ApplySeaLevelCorrection", "true");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("LocalSite");
swloctrim.WriteElementString("Type", "Grid");
swloctrim.WriteElementString("ProjectLocationLatitude", "");
swloctrim.WriteElementString("ProjectLocationLongitude", "");
swloctrim.WriteElementString("ProjectLocationHeight", "");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("Datum");
swloctrim.WriteElementString("Type", "ThreeParameter");
swloctrim.WriteElementString("GridName", "WGS 1984");
swloctrim.WriteElementString("Direction", "WGS84ToLocal");
swloctrim.WriteElementString("EarthRadius", "6378137");
swloctrim.WriteElementString("Flattening", "0.00335281067183");
swloctrim.WriteElementString("TranslationX", "0");
swloctrim.WriteElementString("TranslationY", "0");
swloctrim.WriteElementString("TranslationZ", "0");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("HorizontalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("VerticalAdjustment");
swloctrim.WriteElementString("Type", "NoAdjustment");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("CombinedScaleFactor");
swloctrim.WriteStartElement("Location");
swloctrim.WriteElementString("Latitude", "");
swloctrim.WriteElementString("Longitude", "");
swloctrim.WriteElementString("Height", "");
swloctrim.WriteEndElement();
swloctrim.WriteElementString("Scale", "");
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
swloctrim.WriteEndElement();
// fieldbook
swloctrim.WriteStartElement("FieldBook");
swloctrim.WriteRaw(@" <CameraDesignRecord ID='00000001'>
<Type>GoPro </Type>
<HeightPixels>2400</HeightPixels>
<WidthPixels>3200</WidthPixels>
<PixelSize>0.0000022</PixelSize>
<LensModel>Rectilinear</LensModel>
<NominalFocalLength>0.002</NominalFocalLength>
</CameraDesignRecord>
<CameraRecord2 ID='00000002'>
<CameraDesignID>00000001</CameraDesignID>
<CameraPosition>01</CameraPosition>
<Optics>
<IdealAngularMagnification>1.0</IdealAngularMagnification>
<AngleSymmetricDistortion>
<Order3>-0.35</Order3>
<Order5>0.15</Order5>
<Order7>-0.033</Order7>
<Order9> 0</Order9>
</AngleSymmetricDistortion>
<AngleDecenteringDistortion>
<Column>0</Column>
<Row>0</Row>
</AngleDecenteringDistortion>
</Optics>
<Geometry>
<PerspectiveCenterPixels>
<PrincipalPointColumn>-1615.5</PrincipalPointColumn>
<PrincipalPointRow>-1187.5</PrincipalPointRow>
<PrincipalDistance>-2102</PrincipalDistance>
</PerspectiveCenterPixels>
<VectorOffset>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
</VectorOffset>
<BiVectorAngle>
<XX>0</XX>
<YY>0</YY>
<ZZ>-1.5707963268</ZZ>
</BiVectorAngle>
</Geometry>
</CameraRecord2>");
// 2mm fl
// res 2400 * 3200 = 7,680,000
// sensor size = 1/2.5" - 5.70 × 4.28 mm
// 2.2 μm
// fl in pixels = fl in mm * res / sensor size
swloctrim.WriteStartElement("PhotoInstrumentRecord");
swloctrim.WriteAttributeString("ID", "0000000E");
swloctrim.WriteElementString("Type", "Aerial");
swloctrim.WriteElementString("Model", "X100");
swloctrim.WriteElementString("Serial", "000-000");
swloctrim.WriteElementString("FirmwareVersion", "v0.0");
swloctrim.WriteElementString("UserDefinedName", "Prototype");
swloctrim.WriteEndElement();
swloctrim.WriteStartElement("AtmosphereRecord");
swloctrim.WriteAttributeString("ID", "0000000F");
swloctrim.WriteElementString("Pressure", "");
swloctrim.WriteElementString("Temperature", "");
swloctrim.WriteElementString("PPM", "");
swloctrim.WriteElementString("ApplyEarthCurvatureCorrection", "false");
swloctrim.WriteElementString("ApplyRefractionCorrection", "false");
swloctrim.WriteElementString("RefractionCoefficient", "0");
swloctrim.WriteElementString("PressureInputMethod", "ReadFromInstrument");
swloctrim.WriteEndElement();
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
swloctxt.WriteLine("#seconds_offset: " + TXT_offsetseconds.Text);
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
// get log min and max time
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
continue;
if (a % 1000 == 0)
Application.DoEvents();
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
{
return;
}
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
swlogloccsv.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
// int fixme;
// if (matchs < 150 || matchs > 170)
// break; ;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
double lat = double.Parse(arr[latpos]);
double lng = double.Parse(arr[lngpos]);
double alpha = 0;
if (arr.Length > yawATT)
{
alpha = ((double.Parse(arr[yawATT]) / 100.0) + 180) + (double)num_camerarotation.Value;
}
else
{
alpha = double.Parse(arr[cogpos]) + (double)num_camerarotation.Value;
}
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
{
swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((0).ToString("0.00000000000000000")); //
swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
swjpw.Close();
}*/
kml.AddFeature(
new GroundOverlay()
{
Name = Path.GetFileNameWithoutExtension(filename),
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(Path.GetFileName(filename).ToLower(), UriKind.Relative),
},
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
if (arr.Length > yawATT)
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " " + ((double.Parse(arr[yawATT]) / 100.0) + 180) % 360 + " " + ((double.Parse(arr[pitchATT]) / 100.0)) + " " + (-double.Parse(arr[rollATT]) / 100.0));
}
else
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
}
swloctel.WriteLine(Path.GetFileName(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
swloctel.Flush();
swloctxt.Flush();
GenPhotoStationRecord(swloctrim, filename, double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), 0, 0, double.Parse(arr[cogpos]), 3200, 2400);
log.InfoFormat(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
// flightmission
GenFlightMission(swloctrim);
swloctrim.WriteEndElement(); // fieldbook
swloctrim.WriteEndElement(); // job
swloctrim.WriteEndDocument();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
}
// function that writes out KML file based on the flight chosen by the user
private void CreateKMLButton_Click(object sender, EventArgs e)
{
int nCount;
int nFlightID;
string sfilename;
long lprevTimestamp;
bLoggingEnabled = false;
if (FlightPickerLV.SelectedItems.Count < 1)
{
MessageBox.Show("Please choose a flight before exporting.", "Export KML File");
return;
}
if (KMLFilePathTBRO.Text.Length == 0)
{
MessageBox.Show("Please choose a folder location before exporting.", "Export KML File");
return;
}
nFlightID = (int)FlightPickerLV.SelectedItems[0].Tag;
// This is the root element of the file
var kml = new Kml();
Folder mainFolder = new Folder();
mainFolder.Name = String.Format("{0} {1}", FlightPickerLV.SelectedItems[0].SubItems[1].Text, FlightPickerLV.SelectedItems[0].SubItems[0].Text);
mainFolder.Description = new Description
{
Text = "Overall Data for the flight"
};
kml.Feature = mainFolder;
// start of Flight Path Line
var placemarkLine = new Placemark();
mainFolder.AddFeature(placemarkLine);
placemarkLine.Name = "Flight Path Line";
placemarkLine.Description = new Description
{
Text = "Line of the flight"
};
var linestring = new LineString();
var coordinatecollection = new CoordinateCollection();
linestring.Coordinates = coordinatecollection;
linestring.AltitudeMode = AltitudeMode.Absolute;
SharpKml.Dom.LineStyle lineStyle = new SharpKml.Dom.LineStyle();
lineStyle.Color = Color32.Parse("ff0000ff");
lineStyle.Width = 5;
Style flightStyle = new Style();
flightStyle.Id = "FlightStyle";
flightStyle.Line = lineStyle;
linestring.Extrude = false;
mainFolder.AddStyle(flightStyle);
SharpKml.Dom.Style waypointStyle = new SharpKml.Dom.Style();
waypointStyle.Id = "WaypointStyle";
waypointStyle.Icon = new SharpKml.Dom.IconStyle();
waypointStyle.Icon.Icon = new SharpKml.Dom.IconStyle.IconLink(new System.Uri("https://maps.google.com/mapfiles/kml/paddle/grn-square.png"));
mainFolder.AddStyle(waypointStyle);
SharpKml.Dom.Style pushpinblueStyle = new SharpKml.Dom.Style();
pushpinblueStyle.Id = "PushPinBlueStyle";
pushpinblueStyle.Icon = new SharpKml.Dom.IconStyle();
pushpinblueStyle.Icon.Icon = new SharpKml.Dom.IconStyle.IconLink(new System.Uri("https://maps.google.com/mapfiles/kml/pushpin/blue-pushpin.png"));
mainFolder.AddStyle(pushpinblueStyle);
SharpKml.Dom.Style pushpingreenStyle = new SharpKml.Dom.Style();
pushpingreenStyle.Id = "PushPinGreenStyle";
pushpingreenStyle.Icon = new SharpKml.Dom.IconStyle();
pushpingreenStyle.Icon.Icon = new SharpKml.Dom.IconStyle.IconLink(new System.Uri("https://maps.google.com/mapfiles/kml/pushpin/grn-pushpin.png"));
mainFolder.AddStyle(pushpingreenStyle);
placemarkLine.StyleUrl = new Uri("#FlightStyle", UriKind.Relative);
List <FlightPathData> FlightPath = new List <FlightPathData>();
FlightPath = FlightPathDB.GetFlightPathData(nFlightID);
foreach (FlightPathData fpd in FlightPath)
{
coordinatecollection.Add(new Vector(fpd.latitude, fpd.longitude, fpd.altitude * 0.3048));
}
placemarkLine.Geometry = linestring;
// start of Flight Plan Waypoints
List <FlightWaypointData> FlightWaypoints = new List <FlightWaypointData>();
FlightWaypoints = FlightPathDB.GetFlightWaypoints(nFlightID);
if (FlightWaypoints.Count > 0)
{
Folder FlightPlanFolder = new Folder();
FlightPlanFolder.Name = "Flight Plan";
FlightPlanFolder.Description = new Description
{
Text = "Waypoints along the flight plan"
};
mainFolder.AddFeature(FlightPlanFolder);
foreach (FlightWaypointData waypointData in FlightWaypoints)
{
var placemarkPoint = new Placemark();
placemarkPoint.Name = waypointData.gps_wp_name;
placemarkPoint.StyleUrl = new System.Uri("#WaypointStyle", UriKind.Relative);
placemarkPoint.Geometry = new SharpKml.Dom.Point
{
Coordinate = new Vector(waypointData.gps_wp_latitude, waypointData.gps_wp_longitude, (double)waypointData.gps_wp_altitude * 0.3048),
AltitudeMode = AltitudeMode.Absolute
};
placemarkPoint.Description = new Description
{
Text = String.Concat(String.Format("Coordinates ({0:0.0000}, {1:0.0000}, {2} feet)", waypointData.gps_wp_longitude, waypointData.gps_wp_latitude, waypointData.gps_wp_altitude))
};
FlightPlanFolder.AddFeature(placemarkPoint);
}
}
// start of Flight Data Points
Folder DataPointsfolder = new Folder();
DataPointsfolder.Name = "Flight Path Data Points";
DataPointsfolder.Visibility = false;
DataPointsfolder.Description = new Description
{
Text = "Data Points along the flight path"
};
mainFolder.AddFeature(DataPointsfolder);
nCount = 0;
foreach (FlightPathData fpd in FlightPath)
{
var placemarkPoint = new Placemark();
string descriptioncard;
bool bAnyLightsOn = false;
nCount++;
// if Google Earth App then you need to turn off visibility on each data point also
if (GoogleEarthAppRB.Checked == true)
{
placemarkPoint.Visibility = false;
}
placemarkPoint.Name = String.Concat("Flight Data Point ", nCount.ToString());
placemarkPoint.Id = nCount.ToString();
descriptioncard = String.Concat("<br>Timestamp = ", new DateTime(fpd.timestamp).ToString());
descriptioncard += String.Concat(String.Format("<br><br>Coordinates ({0:0.0000}, {1:0.0000}, {2} feet)", fpd.latitude, fpd.longitude, fpd.altitude));
descriptioncard += String.Format("<br>Temperature: {0:0.00}C / {1:0.00}F", fpd.ambient_temperature, fpd.ambient_temperature * 9 / 5 + 32);
descriptioncard += String.Format("<br>Wind: {0:0.00} knts from {1:0.00} degrees", fpd.ambient_wind_velocity, fpd.ambient_wind_direction);
descriptioncard += String.Format("<br>Altitude Above Ground: {0} feet", fpd.altitudeaboveground);
if (fpd.sim_on_ground == 1)
{
descriptioncard += String.Format("<br>Plane Is On The Ground");
}
descriptioncard += String.Format("<br><br>Heading Indicator: {0:0.00} degrees", fpd.heading_indicator);
descriptioncard += String.Format("<br>True Heading: {0:0.00} degrees", fpd.plane_heading_true);
descriptioncard += String.Format("<br>Magnetic Heading {0:0.00} degrees", fpd.plane_heading_magnetic);
descriptioncard += string.Format("<br><br>Airspeed Indicated: {0:0.00 knts}", fpd.plane_airspeed_indicated);
descriptioncard += string.Format("<br>Airspeed True: {0:0.00} knts", fpd.airspeed_true);
descriptioncard += string.Format("<br>Ground Velocity: {0:0.00} knts", fpd.ground_velocity);
descriptioncard += string.Format("<br>Engine 1: {0} RPM", fpd.Eng1Rpm);
if (fpd.Eng2Rpm > 0)
{
descriptioncard += string.Format("<br>Engine 2: {0} RPM", fpd.Eng2Rpm);
}
if (fpd.Eng3Rpm > 0)
{
descriptioncard += string.Format("<br>Engine 3: {0} RPM", fpd.Eng3Rpm);
}
if (fpd.Eng4Rpm > 0)
{
descriptioncard += string.Format("<br>Engine 4: {0} RPM", fpd.Eng4Rpm);
}
descriptioncard += string.Format("<br><br>Pitch: {0:0.00} degrees {1}", Math.Abs(fpd.plane_pitch), fpd.plane_pitch < 0 ? "Up" : "Down");
descriptioncard += string.Format("<br>Bank: {0:0.00} degrees {1}", Math.Abs(fpd.plane_bank), fpd.plane_bank < 0 ? "Right" : "Left");
descriptioncard += string.Format("<br>Vertical Speed: {0:0} feet per minute", fpd.vertical_speed);
descriptioncard += string.Concat("<br>Flaps Position: ", fpd.flaps_handle_position);
descriptioncard += string.Concat("<br><br>Lights On: ");
// go thru mask and set lights that are on
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Nav) == (int)FlightPathData.LightStates.Nav)
{
descriptioncard += string.Concat("Nav, ");
bAnyLightsOn = true;
}
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Beacon) == (int)FlightPathData.LightStates.Beacon)
{
descriptioncard += string.Concat("Beacon, ");
bAnyLightsOn = true;
}
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Landing) == (int)FlightPathData.LightStates.Landing)
{
descriptioncard += string.Concat("Landing, ");
bAnyLightsOn = true;
}
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Taxi) == (int)FlightPathData.LightStates.Taxi)
{
descriptioncard += string.Concat("Taxi, ");
bAnyLightsOn = true;
}
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Strobe) == (int)FlightPathData.LightStates.Strobe)
{
descriptioncard += string.Concat("Strobe, ");
bAnyLightsOn = true;
}
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Panel) == (int)FlightPathData.LightStates.Panel)
{
descriptioncard += string.Concat("Panel, ");
bAnyLightsOn = true;
}
// commented out the following lights because most planes don't use them and it messes up the GA aircraft
/* if ((fpd.LightsMask & (int)FlightPathData.LightStates.Recognition) == (int)FlightPathData.LightStates.Recognition)
* {
* descriptioncard += string.Concat("Recognition, ");
* bAnyLightsOn = true;
* }
* if ((fpd.LightsMask & (int)FlightPathData.LightStates.Wing) == (int)FlightPathData.LightStates.Wing)
* {
* descriptioncard += string.Concat("Wing, ");
* bAnyLightsOn = true;
* }
* if ((fpd.LightsMask & (int)FlightPathData.LightStates.Logo) == (int)FlightPathData.LightStates.Logo)
* {
* descriptioncard += string.Concat("Logo, ");
* bAnyLightsOn = true;
* }*/
if ((fpd.LightsMask & (int)FlightPathData.LightStates.Cabin) == (int)FlightPathData.LightStates.Cabin)
{
descriptioncard += string.Concat("Cabin, ");
bAnyLightsOn = true;
}
// if there are no masks then put none else remove last two characters which are the comma and the space from above
if (bAnyLightsOn == false)
{
descriptioncard += string.Concat("None");
}
else
{
descriptioncard = descriptioncard.Remove(descriptioncard.Length - 2, 2);
}
if (fpd.is_gear_retractable == 1)
{
descriptioncard += String.Concat("<br>Gear Position: ", fpd.gear_handle_position == 1 ? "Down" : "Up");
}
if (fpd.spoiler_available == 1)
{
descriptioncard += String.Concat("<br>Spoiler Position: ", fpd.spoilers_handle_position == 1 ? "On" : "Off");
}
if (fpd.stall_warning == 1)
{
descriptioncard += "<br>Stall Warning";
}
if (fpd.overspeed_warning == 1)
{
descriptioncard += "<br>Overspeed Warning";
}
placemarkPoint.Description = new Description
{
Text = descriptioncard
};
// turned off showing time with data points as it caused issues of not showing in Google Earth
// if user turned them off and then back on
/* placemarkPoint.Time = new SharpKml.Dom.Timestamp
* {
* When = new DateTime(fpd.timestamp)
* };*/
if (fpd.sim_on_ground == 1)
{
placemarkPoint.StyleUrl = new System.Uri("#PushPinGreenStyle", UriKind.Relative);
}
else
{
placemarkPoint.StyleUrl = new System.Uri("#PushPinBlueStyle", UriKind.Relative);
}
placemarkPoint.Geometry = new SharpKml.Dom.Point
{
Coordinate = new Vector(fpd.latitude, fpd.longitude, (double)fpd.altitude * 0.3048),
AltitudeMode = AltitudeMode.Absolute
};
DataPointsfolder.AddFeature(placemarkPoint);
}
// add 1st person feature
SharpKml.Dom.GX.Tour tour = new SharpKml.Dom.GX.Tour();
tour.Name = "First Person View of Flight";
kml.AddNamespacePrefix("gx", "http://www.google.com/kml/ext/2.2");
SharpKml.Dom.GX.Playlist playlist = new SharpKml.Dom.GX.Playlist();
tour.Playlist = playlist;
mainFolder.AddFeature(tour);
lprevTimestamp = 0;
nCount = 0;
foreach (FlightPathData fpd in FlightPath)
{
nCount++;
SharpKml.Dom.GX.FlyTo flyto = new SharpKml.Dom.GX.FlyTo();
// assume duration will be based on difference between timestamps
// if first time thru loop and don't have old time or user wants to speed up video playback above threshold
// then set duration to 1 if it is greater than 1 else leave as-is
flyto.Duration = (new DateTime(fpd.timestamp) - new DateTime(lprevTimestamp)).TotalMilliseconds / 1000;
if ((lprevTimestamp == 0) ||
(SpeedUpVideoPlaybackCB.Checked == true))
{
if (flyto.Duration > 1)
{
flyto.Duration = 1;
}
}
lprevTimestamp = fpd.timestamp;
flyto.Mode = SharpKml.Dom.GX.FlyToMode.Smooth;
SharpKml.Dom.Camera cam = new SharpKml.Dom.Camera();
cam.AltitudeMode = SharpKml.Dom.AltitudeMode.Absolute;
cam.Latitude = fpd.latitude;
cam.Longitude = fpd.longitude;
cam.Altitude = fpd.altitude * 0.3048;
cam.Heading = fpd.plane_heading_true;
if (GoogleEarthAppRB.Checked == true)
{
cam.Roll = fpd.plane_bank;
}
else
{
cam.Roll = fpd.plane_bank * -1;
}
cam.Tilt = (90 - fpd.plane_pitch);
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = new DateTime(fpd.timestamp);
cam.GXTimePrimitive = tstamp;
flyto.View = cam;
playlist.AddTourPrimitive(flyto);
// change it so balloons show during first person view (for potential future use)
/*
* var placemarkPoint = new Placemark();
* placemarkPoint.TargetId = nCount.ToString();
* placemarkPoint.GXBalloonVisibility = true;
* SharpKml.Dom.Update update = new SharpKml.Dom.Update();
* update.AddUpdate(new ChangeCollection() { placemarkPoint });
* SharpKml.Dom.GX.AnimatedUpdate animatedUpdate = new SharpKml.Dom.GX.AnimatedUpdate();
* animatedUpdate.Update = update;
* playlist.AddTourPrimitive(animatedUpdate);*/
}
// write out KML file
char[] invalidFileNameChars = Path.GetInvalidFileNameChars();
sfilename = String.Format("{0}_{1}.kml", FlightPickerLV.SelectedItems[0].SubItems[1].Text, FlightPickerLV.SelectedItems[0].SubItems[0].Text);
var validfilename = new string(sfilename.Select(ch => invalidFileNameChars.Contains(ch) ? '_' : ch).ToArray());
sfilename = string.Concat(KMLFilePathTBRO.Text, "\\");
sfilename += validfilename;
System.IO.File.Delete(sfilename);
KmlFile kmlfile = KmlFile.Create(kml, true);
using (var stream = System.IO.File.OpenWrite(sfilename))
{
kmlfile.Save(stream);
}
MessageBox.Show(String.Format("Flight successfully exported to {0}", sfilename), "Export KML File");
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List<string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
StreamWriter sw4 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv");
StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
sw.WriteLine("version=1");
sw.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
sw.WriteLine("#longitude and latitude - in degrees");
sw.WriteLine("#name utc longitude latitude height");
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
continue;
if (a % 1000 == 0)
Application.DoEvents();
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
return;
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
sw4.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle() { Text = "$[name]<br>$[description]" }
}
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
sw2.WriteLine(Path.GetFileNameWithoutExtension(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
sw.WriteLine(Path.GetFileNameWithoutExtension(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
log.InfoFormat(Path.GetFileNameWithoutExtension(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
sw3.Write(serializer.Xml);
sw3.Close();
MainV2.instance.georefkml = serializer.Xml;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
sw4.Close();
sw2.Close();
sw.Close();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
photocoords = new Hashtable();
timecoordcache = new Hashtable();
imagetotime = new Hashtable();
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
TXT_outputlog.AppendText("Read Log\n");
List <string[]> list = readLog(logFile);
TXT_outputlog.AppendText("Log Read\n");
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
TXT_outputlog.AppendText("Read images\n");
string[] files = Directory.GetFiles(dirWithImages);
TXT_outputlog.AppendText("images read\n");
Document kml = new Document();
using (StreamWriter swlogloccsv = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv"))
using (StreamWriter swlockml = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml"))
using (StreamWriter swloctxt = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt"))
using (StreamWriter swloctel = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel"))
{
swloctel.WriteLine("version=1");
swloctel.WriteLine("#seconds offset - " + TXT_offsetseconds.Text);
swloctel.WriteLine("#longitude and latitude - in degrees");
swloctel.WriteLine("#name utc longitude latitude height");
swloctxt.WriteLine("#name longitude/X latitude/Y height/Z yaw pitch roll");
swloctxt.WriteLine("#seconds_offset: " + TXT_offsetseconds.Text);
int first = 0;
int matchs = 0;
int lastmatchindex = 0;
TXT_outputlog.AppendText("start Processing\n");
foreach (string filename in files)
{
if (filename.ToLower().EndsWith(".jpg") && !filename.ToLower().Contains("_geotag"))
{
DateTime photodt = getPhotoTime(filename);
// get log min and max time
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(photodt.Year, photodt.Month, photodt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (localmin > crap)
{
localmin = crap;
}
if (localmax < crap)
{
localmax = crap;
}
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " time " + photodt + "\r\n");
//Application.DoEvents();
int a = 0;
foreach (string[] arr in list)
{
a++;
if (lastmatchindex > (a))
{
continue;
}
if (a % 1000 == 0)
{
Application.DoEvents();
}
DateTime logdt = startTime.AddMilliseconds(int.Parse(arr[timepos])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + " vs Log " + logdt + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (photodt - logdt).TotalSeconds + "\r\n");
if (dooffset)
{
swlockml.Close();
swloctel.Close();
swloctxt.Close();
swlogloccsv.Close();
return;
}
first++;
}
// time has past, logs are in time order
if (photodt < logdt.AddSeconds(-1))
{
lastmatchindex = a;
break;
}
//Console.Write("ph " + dt + " log " + crap + " \r");
timecoordcache[(long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds] = new double[] {
double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos])
};
swlogloccsv.WriteLine("ph " + filename + " " + photodt + " log " + logdt);
if (photodt.ToString("yyyy-MM-ddTHH:mm:ss") == logdt.ToString("yyyy-MM-ddTHH:mm:ss"))
{
lastmatchindex = a;
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(filename) + " " + photodt + "\r\n");
matchs++;
// int fixme;
// if (matchs > 50)
// break; ;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = photodt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(filename),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
},
Description = new Description()
{
Text = "<table><tr><td><img src=\"" + Path.GetFileName(filename).ToLower() + "\" width=500 /></td></tr></table>"
},
StyleSelector = new Style()
{
Balloon = new BalloonStyle()
{
Text = "$[name]<br>$[description]"
}
}
}
);
double lat = double.Parse(arr[latpos]);
double lng = double.Parse(arr[lngpos]);
double alpha = 0;
if (arr.Length > yawATT)
{
alpha = ((double.Parse(arr[yawATT]) / 100.0) + 180) + (double)num_camerarotation.Value;
}
else
{
alpha = double.Parse(arr[cogpos]) + (double)num_camerarotation.Value;
}
RectangleF rect = getboundingbox(lat, lng, alpha, (double)num_hfov.Value, (double)num_vfov.Value);
Console.WriteLine(rect);
//http://en.wikipedia.org/wiki/World_file
/* using (StreamWriter swjpw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(filename) + ".jgw"))
* {
* swjpw.WriteLine((rect.Height / 2448.0).ToString("0.00000000000000000"));
* swjpw.WriteLine((0).ToString("0.00000000000000000")); //
* swjpw.WriteLine((0).ToString("0.00000000000000000")); //
* swjpw.WriteLine((rect.Width / -3264.0).ToString("0.00000000000000000")); // distance per pixel
* swjpw.WriteLine((rect.Left).ToString("0.00000000000000000"));
* swjpw.WriteLine((rect.Top).ToString("0.00000000000000000"));
*
* swjpw.Close();
* }*/
kml.AddFeature(
new GroundOverlay()
{
Name = Path.GetFileNameWithoutExtension(filename),
Visibility = false,
Time = tstamp,
AltitudeMode = AltitudeMode.ClampToGround,
Bounds = new LatLonBox()
{
Rotation = -alpha % 360,
North = rect.Bottom,
East = rect.Right,
West = rect.Left,
South = rect.Top,
},
Icon = new SharpKml.Dom.Icon()
{
Href = new Uri(Path.GetFileName(filename).ToLower(), UriKind.Relative),
},
}
);
photocoords[filename] = new double[] { double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]), double.Parse(arr[cogpos]) };
imagetotime[filename] = (long)(logdt.AddSeconds(-offsetseconds) - DateTime.MinValue).TotalSeconds;
if (arr.Length > yawATT)
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " " + ((double.Parse(arr[yawATT]) / 100.0) + 180) % 360 + " " + ((double.Parse(arr[pitchATT]) / 100.0)) + " " + (-double.Parse(arr[rollATT]) / 100.0));
}
else
{
swloctxt.WriteLine(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
}
swloctel.WriteLine(Path.GetFileName(filename) + "\t" + logdt.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
swloctel.Flush();
swloctxt.Flush();
log.InfoFormat(Path.GetFileName(filename) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
swlockml.Write(serializer.Xml);
swlockml.Close();
Utilities.httpserver.georefkml = serializer.Xml;
Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
swlogloccsv.Close();
swloctxt.Close();
swloctel.Close();
TXT_outputlog.AppendText("Done " + matchs + " matchs");
}
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
List<string[]> list = readLog(logFile);
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
string[] files = Directory.GetFiles(dirWithImages);
Document kml = new Document();
StreamWriter sw4 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv");
StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
sw.WriteLine("version=1");
sw.WriteLine("#longitude and latitude - in degrees");
sw.WriteLine("#name utc longitude latitude height");
int first = 0;
int matchs = 0;
foreach (string file in files)
{
if (file.ToLower().EndsWith(".jpg"))
{
DateTime dt = getPhotoTime(file);
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(dt.Year, dt.Month, dt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (localmin > crap)
localmin = crap;
if (localmax < crap)
localmax = crap;
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " time " + dt + "\r\n");
foreach (string[] arr in list)
{
//Application.DoEvents();
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (dt - crap).TotalSeconds + "\r\n");
if (dooffset)
return;
first++;
}
Console.Write("ph " + dt + " log " + crap + " \r");
sw4.WriteLine("ph " + file + " " + dt + " log " + crap);
if (dt.ToString("yyyy-MM-ddTHH:mm:ss") == crap.ToString("yyyy-MM-ddTHH:mm:ss"))
{
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + "\r\n");
matchs++;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = dt;
kml.AddFeature(
new Placemark()
{
Time = tstamp ,
Name = Path.GetFileNameWithoutExtension(file),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
}
}
);
sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
log.InfoFormat(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
sw3.Write(serializer.Xml);
sw3.Close();
sw4.Close();
sw2.Close();
sw.Close();
CustomMessageBox.Show("Done " + matchs + " matchs");
}
public void dowork(string logFile, string dirWithImages, float offsetseconds, bool dooffset)
{
DateTime localmin = DateTime.MaxValue;
DateTime localmax = DateTime.MinValue;
DateTime startTime = DateTime.MinValue;
//logFile = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM\2011-10-01 11-48 1.log";
List <string[]> list = readLog(logFile);
//dirWithImages = @"C:\Users\hog\Pictures\farm 1-10-2011\100SSCAM";
string[] files = Directory.GetFiles(dirWithImages);
Document kml = new Document();
StreamWriter sw4 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "loglocation.csv");
StreamWriter sw3 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.kml");
StreamWriter sw2 = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.txt");
StreamWriter sw = new StreamWriter(dirWithImages + Path.DirectorySeparatorChar + "location.tel");
sw.WriteLine("version=1");
sw.WriteLine("#longitude and latitude - in degrees");
sw.WriteLine("#name utc longitude latitude height");
int first = 0;
int matchs = 0;
foreach (string file in files)
{
if (file.ToLower().EndsWith(".jpg"))
{
DateTime dt = getPhotoTime(file);
if (startTime == DateTime.MinValue)
{
startTime = new DateTime(dt.Year, dt.Month, dt.Day, 0, 0, 0, 0, DateTimeKind.Utc).ToLocalTime();
foreach (string[] arr in list)
{
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (localmin > crap)
{
localmin = crap;
}
if (localmax < crap)
{
localmax = crap;
}
}
log.InfoFormat("min " + localmin + " max " + localmax);
TXT_outputlog.AppendText("Log min " + localmin + " max " + localmax + "\r\n");
}
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " time " + dt + "\r\n");
foreach (string[] arr in list)
{
//Application.DoEvents();
DateTime crap = startTime.AddMilliseconds(int.Parse(arr[1])).AddSeconds(offsetseconds);
if (first == 0)
{
TXT_outputlog.AppendText("Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + " vs Log " + crap + "\r\n");
TXT_outputlog.AppendText("offset should be about " + (dt - crap).TotalSeconds + "\r\n");
if (dooffset)
{
return;
}
first++;
}
Console.Write("ph " + dt + " log " + crap + " \r");
sw4.WriteLine("ph " + file + " " + dt + " log " + crap);
if (dt.ToString("yyyy-MM-ddTHH:mm:ss") == crap.ToString("yyyy-MM-ddTHH:mm:ss"))
{
TXT_outputlog.AppendText("MATCH Photo " + Path.GetFileNameWithoutExtension(file) + " " + dt + "\r\n");
matchs++;
SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
tstamp.When = dt;
kml.AddFeature(
new Placemark()
{
Time = tstamp,
Name = Path.GetFileNameWithoutExtension(file),
Geometry = new SharpKml.Dom.Point()
{
Coordinate = new Vector(double.Parse(arr[latpos]), double.Parse(arr[lngpos]), double.Parse(arr[altpos]))
}
}
);
sw2.WriteLine(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos]);
sw.WriteLine(Path.GetFileNameWithoutExtension(file) + "\t" + crap.ToString("yyyy:MM:dd HH:mm:ss") + "\t" + arr[lngpos] + "\t" + arr[latpos] + "\t" + arr[altpos]);
sw.Flush();
sw2.Flush();
log.InfoFormat(Path.GetFileNameWithoutExtension(file) + " " + arr[lngpos] + " " + arr[latpos] + " " + arr[altpos] + " ");
break;
}
//Console.WriteLine(crap);
}
}
}
Serializer serializer = new Serializer();
serializer.Serialize(kml);
sw3.Write(serializer.Xml);
sw3.Close();
sw4.Close();
sw2.Close();
sw.Close();
CustomMessageBox.Show("Done " + matchs + " matchs");
}
